EP1526357A1 - Method for detecting map matching position of vehicle in navigation system - Google Patents

Method for detecting map matching position of vehicle in navigation system Download PDF

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Publication number
EP1526357A1
EP1526357A1 EP04292372A EP04292372A EP1526357A1 EP 1526357 A1 EP1526357 A1 EP 1526357A1 EP 04292372 A EP04292372 A EP 04292372A EP 04292372 A EP04292372 A EP 04292372A EP 1526357 A1 EP1526357 A1 EP 1526357A1
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EP
European Patent Office
Prior art keywords
coordinates
current vehicle
line
vehicle location
intersection point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04292372A
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German (de)
English (en)
French (fr)
Inventor
Han Sung c/o LG Electronics Inst. of Tech. Lee
Mun Ho Jung
Dong Hoon Yi
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LG Electronics Inc
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LG Electronics Inc
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Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of EP1526357A1 publication Critical patent/EP1526357A1/en
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching

Definitions

  • the present invention relates to a navigation system, and more particularly, to a method for detecting a map matching position of a vehicle in a navigation system, which detects coordinates on a link (road) of map data that will be matched to coordinates of a current vehicle location obtained from navigation messages received by a GPS (global positioning system) receiver and from detection signals of a variety of sensors installed at a vehicle to detect a travel state of the vehicle.
  • a GPS global positioning system
  • the present invention relates to a method for detecting a map matching position of a vehicle in a navigation system, wherein coordinates of a current vehicle location are obtained from navigation messages received by a GPS receiver and from signals of sensors installed at a vehicle, using a general line equation for obtaining an intersection point between an arbitrary line and a perpendicular line drawn from an arbitrary point to the line, and the current vehicle location is matched to coordinates found through orthogonal projection on a link on map data closest to the obtained coordinates of the current vehicle location.
  • a navigation system obtains coordinates of a current vehicle location using navigation messages transmitted by a plurality of GPS satellites arranged on geostationary orbits over the Earth and using detection signals of a plurality of sensors installed at a vehicle, including a gyro sensor for detecting a travel direction of the vehicle and a speed sensor for detecting a travel speed, matches the obtained coordinates of the current vehicle location to map data, searches for a travel path from the matched coordinates of the current vehicle location to coordinates of a destination of the vehicle through the map data, and guides the travel of the vehicle to the destination along the searched travel path.
  • the coordinates of the current vehicle location obtained from the navigation messages received by the GPS receiver and the detection signals of the sensors should be exactly matched to a link on the map data in order to correctly detect the coordinates of the current vehicle location, inform a user of the detected coordinates, correctly search for the travel path from the coordinates of the current vehicle location to the coordinates of the destination, and guide the vehicle along the searched travel path.
  • a conventional technique for matching coordinates of a current vehicle location to coordinates of a link on map data is disclosed in Korean Patent Application No. 1997-78443 (Laid-Open Publication No. 1999-58343).
  • coordinates of a current vehicle location is detected and it is determined whether the detected coordinates of the current vehicle location fall within an interpolation range of a link on map data. If it is determined that the detected coordinates of the current vehicle location fall within the interpolation range of the link on the map data, a distance between coordinates of interpolated points positioned in the interpolation range and the coordinates of the current vehicle location is calculated. The coordinates of an interpolated point in which the calculated distance is smallest are selected as coordinates of a target interpolation point. Then, the coordinates of the current vehicle location are substituted with and matched to the coordinates of the selected target interpolation point. In such a manner, a travel path of the vehicle is tracked.
  • An object of the present invention is to provide a method for detecting a map matching position of a vehicle in a navigation system, wherein coordinates of a point existing on a link of map data, which are closest to coordinates of a current vehicle location, are calculated using a general line equation for obtaining an intersection point between an arbitrary line and a perpendicular line drawn from an arbitrary point to the line.
  • a method for detecting a map matching position of a vehicle in a navigation system comprising the steps of (a) obtaining coordinates P 0 of a current vehicle location; (b) searching map data to find one link to which the coordinates P 0 of the current vehicle location obtained in step (a) will be matched; (c) drawing a perpendicular line from the coordinates P 0 of the current vehicle location obtained in step (a) to the link found in step (b) and obtaining coordinates P of an intersection point of the perpendicular line; and (d) determining the coordinates of the current vehicle location to be the coordinates P of the intersection point obtained in step (c).
  • the coordinates P 0 of the current vehicle location obtained in step (a) may be coordinates of a location detected using navigation messages received by a GPS receiver and detection signals of sensors installed on the vehicle.
  • the link found in step (b) may be a link on the map data closest to the coordinates P 0 of the current vehicle location.
  • a method for detecting a map matching position of a vehicle in a navigation system comprising the steps of (a) obtaining, by a control unit, coordinates P 0 of a current vehicle location using navigation messages received by a GPS receiver and detection signals of sensors installed on the vehicle; (b) searching map data to find one link to which the coordinates P 0 of the current vehicle location obtained in step (a) will be matched, and obtaining coordinates P 1 and P 2 of both end points of the link; (c) obtaining coordinates P of an intersection point of a perpendicular line drawn from the coordinates P 0 of the current vehicle location obtained in step (a) to a line defined by the coordinates P 1 and P 2 of the both end points of the link obtained in step (b); and (d) determining the coordinates of the current vehicle location to be the coordinates P of the intersection point obtained in step (c).
  • the link found in step (b) may be a link on the map data closest to the coordinates P 0 of the current vehicle location.
  • Step (c) may further comprise the steps of determining an orientation of the line defined by the coordinates P 1 and P 2 of the both end points of the link obtained in step (b); and obtaining the coordinates P of the intersection point of the perpendicular line according to the determined orientation. If the orientation of the line P 1 P 2 is not vertical or horizontal on a digital map, the coordinates P of the intersection point of the perpendicular line may be calculated from the following formula: If the orientation of the line is vertical on a digital map, the coordinates P of the intersection point of the perpendicular line may be determined to be (x 1 , y 0 ). If the orientation of the line P 1 P 2 is horizontal on a digital map, the coordinates P of the intersection point of the perpendicular line may be determined to be (x 0 , y 1 ).
  • x 1 is x-axis coordinate values of the coordinates P 1 and P 2
  • y 0 is a y-axis coordinate value of the coordinates P 0 .
  • x 0 is an x-axis coordinate value of the coordinates Po
  • y 1 is y-axis coordinate values of the coordinates P 1 and P 2 .
  • Fig. 1 is a block diagram showing a configuration of a navigation system to which the method of detecting the map matching position according to the present invention is applied.
  • the navigation system comprises a GPS receiver 104 for receiving navigation messages, which have been transmitted by a plurality of GPS satellites 100, through an antenna 102; a sensor unit 106 installed at a vehicle to detect a travel direction, a travel speed and the like of a vehicle; a map data storage unit 108 for storing map data in a storage medium such as a compact disk or a memory; a control unit 110 capable of controlling operations for detecting coordinates of a current vehicle location from the navigation messages received by the GPS receiver 104 and detection signals of the sensor unit 106, for matching the detected coordinates of the current vehicle location to a link on map data stored in the map data storage unit 108 and for searching a travel path from the matched position to coordinates of a destination of the vehicle so as to guide the travel of the vehicle; a display driving unit 112 for causing the current vehicle location together with a GPS receiver
  • the GPS receiver 102 of the navigation system constructed as above receives the navigation messages transmitted by the plurality of GPS satellites 100 and inputs them into the control unit 110, and the sensor unit 106 detects a travel state, including a travel direction and a travel speed of the vehicle, and inputs it into the control unit 110.
  • control unit 110 detects the coordinates of the current vehicle location using the navigation messages received by the GPS receiver 102 and the detection signals of the sensor unit 106, matches the detected coordinates of the current vehicle location to a link on the map data stored in the map data storage unit 108, and outputs the matched results to the display unit 114 through the display driving unit 112 to display the map and the current vehicle location.
  • the control unit 110 searches the map data to find a travel path to the coordinates of the destination from the coordinates of the link on the map data to which the current vehicle location has been matched, and causes the searched travel path together with a map to be displayed on the display unit 114 through the display driving unit 112 and guidance voices to be simultaneously output from the speaker 118 through the voice guidance unit 116, thereby guiding the vehicle along the travel path.
  • Fig. 2 is a flowchart illustrating the method of detecting the map matching position according to the present invention.
  • the control unit 110 receives navigation messages received by the GPS receiver 104 and detection signals of the sensor unit 106 (step 200), and detects coordinates P 0 of a current vehicle location using the received navigation messages and detection signals of the sensor unit 106 (step 202).
  • the control unit 110 searches the map data stored in the map data storage unit 108 to find a link closest to the detected coordinates P 0 of the current vehicle location (step 204), and searches for and stores coordinates P 1 and P 2 of both end points of the searched link (step 206).
  • the control unit 110 checks the orientation of a line P 1 P 2 defined by the coordinates P 1 and P 2 of the both end points of the detected link (road) (step 208), and obtains coordinates P of an intersection point of a perpendicular line drawn from the detected coordinates P 0 of the current vehicle location to line P 1 P 2 using a formula for obtaining the coordinates P of the intersection point, determines the obtained coordinates P of the intersection point of the perpendicular line as correct coordinates of the current vehicle location and performs matching (step 210).
  • the orientation of line P 1 P 2 may correspond to one of a vertical case, a horizontal case, and cases other than the vertical and horizontal cases.
  • the obtainment of the coordinates P of the intersection point of the perpendicular line will be described according to the orientation of line P 1 P 2 .
  • one of the coefficients of the line equation can be fixed to a specific value.
  • coordinates of a current vehicle location is found on a map
  • a perpendicular line is drawn from the coordinates of the current vehicle location to a link closest thereto by using a general line equation
  • coordinates of an intersection point of the perpendicular line are found, and the current vehicle location is matched to the coordinates of an intersection point, thereby matching the current vehicle location to a correct position on the link. Accordingly, it is possible to more correctly inform a user of the current vehicle location and to guide the travel of the vehicle by more correctly searching for a travel path of the vehicle.
EP04292372A 2003-10-20 2004-10-06 Method for detecting map matching position of vehicle in navigation system Withdrawn EP1526357A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR2003072906 2003-10-20
KR10-2003-0072906A KR100520709B1 (ko) 2003-10-20 2003-10-20 네비게이션 시스템의 이동체의 맵 매칭위치 검출방법

Publications (1)

Publication Number Publication Date
EP1526357A1 true EP1526357A1 (en) 2005-04-27

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EP04292372A Withdrawn EP1526357A1 (en) 2003-10-20 2004-10-06 Method for detecting map matching position of vehicle in navigation system

Country Status (4)

Country Link
US (1) US7197392B2 (ko)
EP (1) EP1526357A1 (ko)
KR (1) KR100520709B1 (ko)
CN (1) CN1312642C (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2101148A1 (en) 2008-03-11 2009-09-16 GMV Aerospace and Defence S.A. Method for map matching with guaranteed integrity

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JP4680131B2 (ja) * 2006-05-29 2011-05-11 トヨタ自動車株式会社 自車位置測定装置
US20070288164A1 (en) * 2006-06-08 2007-12-13 Microsoft Corporation Interactive map application
TWI284193B (en) * 2006-07-06 2007-07-21 Sin Etke Technology Co Ltd A display correction of vehicle navigation system and the correction and display method thereof
KR100753545B1 (ko) * 2006-12-27 2007-08-30 (주)씨랩시스 Ｇｐｓ 데이터 처리 기능을 갖는 내비게이션 장치 및내비게이션 장치에서 ｇｐｓ 신호를 처리하는 방법
US20100057358A1 (en) * 2008-08-28 2010-03-04 TeleType Co., Inc. Portable gps map device for commercial vehicle industry
US8086364B2 (en) * 2009-03-11 2011-12-27 General Electric Company System and method for operation of electric and hybrid vehicles
US20110130962A1 (en) * 2009-12-02 2011-06-02 Larry Damell Lindsey Navigation system for delivery vehicles
US8442763B2 (en) * 2010-04-16 2013-05-14 CSR Technology Holdings Inc. Method and apparatus for geographically aiding navigation satellite system solution
CN104969032A (zh) * 2013-03-15 2015-10-07 惠普发展公司，有限责任合伙企业 地图匹配
GB201321357D0 (en) * 2013-12-04 2014-01-15 Tomtom Int Bv A method of resolving a point location from encoded data representative thereof
US10332395B1 (en) 2017-12-21 2019-06-25 Denso International America, Inc. System and method for translating roadside device position data according to differential position data
CN110489510B (zh) * 2019-08-23 2022-05-20 腾讯科技（深圳）有限公司 道路数据的处理方法、装置、可读存储介质和计算机设备

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
EP2101148A1 (en) 2008-03-11 2009-09-16 GMV Aerospace and Defence S.A. Method for map matching with guaranteed integrity
US8032299B2 (en) 2008-03-11 2011-10-04 Gmv Aerospace And Defence S.A. Method for map matching with guaranteed integrity

Also Published As

Publication number Publication date
CN1609912A (zh) 2005-04-27
US20050085995A1 (en) 2005-04-21
KR100520709B1 (ko) 2005-10-17
CN1312642C (zh) 2007-04-25
KR20050037670A (ko) 2005-04-25
US7197392B2 (en) 2007-03-27

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